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Hi, I'm using navigation stack and using teb_local_planner for path planning. I change this parameter "max_vel_x_backwards: 0.0" so the robot will not move backwards. But I also want the robot not to rotate on itself. how can I do?

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Originally posted by pietrocolombo on ROS Answers with karma: 63 on 2017-11-08

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Original comments

Comment by JohnMdz on 2018-06-28:
Hello,

I am facing the same problem. I have a robot that rotates with a 1.4m radius and that is not able to perform backwards movements (or lets say that I truly prefer it doesn't due to security reasons). Did you manage to find a solution?

Thank you

Comment by aarontan on 2018-06-28:
have you tried adjusting the turning radius parameter?

Comment by JohnMdz on 2018-07-02:
I have. And that part seems to be working. The problem is the backward movement. My robot cannot perform backward movement. I'd be comfortable with a message from the planner saying it is impossible to find a path...

Comment by aarontan on 2018-07-02:
@JohnMdz i tried what you said, it looks like I am also facing the same issue. I am also getting the same warning about control loop missing its desired refresh rate. I would like to know if @pietrocolombo has figured this out or not ...

Comment by pietrocolombo on 2018-07-06:
@JohnMdz we have not solved the issue. on the other hand we are developing another local planner

Comment by jorgyz on 2019-04-04:
@JohnMdz did you ever find a way to handle the backwards movement issue?

Comment by pietrocolombo on 2019-04-05:
unfortunately not

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As I can understand you want your robot to avoid in-place rotations and moving backwards.

Avoiding both backing up and in-place rotations can get your robot stuck if there is an obstacle in front of it. In this case the recovery-behavior will take place to get the robot unstuck (NOTE that the default recovery behavior rotates in place). That is set by the recovery_behaviors and clearing_rotation_allowed parameters from move_base. This means that in order to avoid in-place rotations when stuck you will need a custom recovery behavior plugin in this case.

Please post your teb_local_planner parameters (.yaml) and move_base.launch files so we can see your current configuration.


Originally posted by pavel92 with karma: 1655 on 2018-07-06

This answer was ACCEPTED on the original site

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Original comments

Comment by JohnMdz on 2018-07-11:
I don't fully agree. I understand that the robot may be stuck if it unable to perform backwards or in place movements/rotations. My main issue is that the planner always consider the backwards movement and not only in obstacle avoidance situations.

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